JP2001069836A - Automatic traveling apparatus for combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform efficient work with a combine by automatically interrupting the reaping work when the quantity of grain in a grain tank of a combine reaches a prescribed level and driving the combine to a position near a truck. SOLUTION: A receiver 2 capable of receiving electric wave transmitted from a GPS satellite 1 is attached to an arbitrary position of a combine to enable the detection of the position of the combine and the combine is automatically driven along a prescribed course based on the signal received by the receiver 2. In a combine having the above function, the quantity of grain in a grain tank 3 is detected by a grain quantity detecting means 4 and, when the quantity of grain detected by the grain quantity detecting means 4 is a prescribed level or over, the reaping work is interrupted and the combine is automatically driven toward a truck 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic traveling device for a combine.

[0002]

2. Description of the Related Art A conventional automatic traveling device of a combine is configured to simply receive a radio wave from a GPS satellite and automatically travel at a preset position.

[0003]

In the automatic traveling apparatus of the combine as described above, the automatic traveling can be performed in the harvesting operation, but when the grain in the Glen tank is full, the automatic traveling to the truck position is performed. I couldn't run.

The present invention is intended to solve such a problem.

[0005]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. That is, a receiver 2 capable of receiving a radio wave from the GPS satellite 1 is provided at an arbitrary position of the combine so that the position of the combine can be detected, and the position is set in advance based on a signal received by the receiver 2. In the combine which travels automatically in the position, a grain amount detecting means 4 for detecting the grain amount in the Glen tank 3 is provided, and when the grain amount detecting means 4 detects a preset value or more, the cutting operation is interrupted. And automatically moving to the truck 5.

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an overall view of the left side of a combine serving as an agricultural machine.

[0007] In front of the undercarriage 7 having the traveling device 6, a cutting device 8 for cutting the planted grain culm and transporting it to the rear, and a feed chain further rearward inheriting the grain culm transported from the cutting device 8. Supply / conveyance device 10 for conveying toward 9
Is provided. A supply transfer device 10
Threshing device 11 for threshing and sorting while transferring and transporting grain culm conveyed from feed chain 9, threshing device 1
Glen tank 3 for temporarily storing the grains selected by threshing in 1
And the operation unit 12 is placed. The engine is mounted on the front part of the chassis 7 so as to transmit the rotating parts of each device.

The traveling device 6 is configured to be driven from an engine via a traveling transmission device 13. Further, a receiving device 2 capable of receiving a radio wave from the GPS satellite 1 is provided at an arbitrary position of the combine (in the present embodiment, on the upper surface of the cabin 12a of the operation unit 12).

[0009] When the operation is started by running such a combine, the planted grain culm is cut off by the cutting device 8 and conveyed to the rear. After that, it is taken over by the starting end of the feed chain 9 and is pinched and conveyed while threshing. Threshing is performed by the apparatus 11. The grains selected by threshing in the threshing device 11 are transported into the Glen tank 3 and temporarily stored therein. Traveling in the field may be performed manually by an operator,
As described above, since the radio wave from the GPS satellite 1 is configured to be able to be received, the vehicle can automatically travel at a preset position.

An elevating means for elevating and lowering the chassis 6 is provided between the traveling device 6 and the chassis 7. First, the traveling device 6 will be described with reference to FIG. Traveling device 6
Corresponds to a crawler 14 in the form of an endless belt, a driving sprocket 15 for rotating the crawler 14, a plurality of grounding wheels 16 provided at predetermined intervals to ground the crawler 14 on the ground, and corresponding to irregularities on the ground. A movable roller 17, a track roller frame 18 supporting the ground roller 16 and the movable roller 17, a moving sprocket 19 for applying tension to the crawler 14, an adjusting device 20 for adjusting the movement of the moving sprocket 19, and a crawler 14 is formed by supporting wheels 21 and the like for preventing sagging. The same configuration is provided in a pair on the left and right.

Next, the lifting means will be described with reference to FIGS. The elevating means is provided between the left and right traveling devices 6 and the chassis 7. A front arm 22 is loosely connected to a pin 23 at the front of the track roller frame 18, and a rear arm 24 is loosely connected to a pin 25 at the rear. The other end of the front arm 22 is loosely connected to a front rolling shaft 27 of a support 26 fixed to the chassis 7, and the arm 28 is loosely connected to the front rolling shaft 27. I have. The front arm 22 and the arm 28 are connected and fixed. The other end of the rear arm 24 is loosely connected to a rear rolling shaft 30 of a connecting arm 29 fixed to the chassis 7, and an arm 31 is loosely connected to the rear rolling shaft 30. . The rear arm 24 and the arm 31 are connected and fixed. The arm 28 and the arm 31 are loosely connected by a connecting rod 32, and the end of the arm 31 is loosely connected to the end of a piston rod 34 of a hydraulic cylinder 33. The hydraulic cylinder 33 is provided with the plate 3
3a and the plate 33b
, The end of which is connected to the pitching arm 35.

The plate 33b includes a hydraulic cylinder 33
The piston rod 34 is made movable. The reason why the hydraulic cylinder 33 is suspended by the plate 33a is that the piston rod 34 of the hydraulic cylinder 33 does not move when the pitching hydraulic cylinder 36 is operated.

Therefore, when the piston rod 34 of the hydraulic cylinder 33 is extended, the arm 3 in the left side view of FIG.
1 rotates clockwise to pull the connecting rod 32, which turns the arm 28 clockwise.
Then, both the rear arm 24 and the front arm 22 rotate clockwise, whereby the track roller frame 1 is rotated.
Reference numeral 8 lowers with respect to the chassis 7. When the piston rods 34 of the left and right hydraulic cylinders 33 are simultaneously extended, the chassis 7 rises with respect to the ground.

When the piston rod 34 of the hydraulic cylinder 33 is contracted, the movement becomes opposite to the above-mentioned movement.
The track roller frame 18 moves upward with respect to the chassis 7. Piston rods 34 of left and right hydraulic cylinders 33
At the same time, the chassis 7 descends with respect to the ground.

The hydraulic cylinder 33 is also used for correcting when the combine is tilted left and right (rolling). For example, when the traveling device 6 of the combine tilts to the left due to the influence of the field, the chassis 7 also tilts to the left, and the operation unit 12 mounted on the chassis 7 also tilts to the left. The comfort of the operator who rides on the boat becomes worse, and the threshing device 11 also tilts to the left, so that the sorting of the threshed grains becomes worse. So, in such a case,
The piston rod 34 of the left hydraulic cylinder 33 is extended, and the left side of the chassis 7 is raised to make the chassis 7 substantially parallel (rolling control). The inclination of the combine
It is detected by an inclination sensor 37 installed on the chassis 7. When the combine tilts to the right, the right hydraulic cylinder 3
The third piston rod 34 is extended to raise the right side of the chassis 7.

In the combine of this embodiment, the chassis 7
Since the front-rear inclination means for inclining the front-rear direction is provided, the front-rear inclination means will be described. Connecting arm 2
One end of 9 is connected to a pitching arm 35 by a pin 38, and the pitching arm 35 is loosely connected to the chassis 7 by a shaft 39. Specifically, the shaft 39 is rotatably supported by a running frame 40 by a bearing 41. Only the pitching arm 35 on the right side with respect to the forward direction of the combine projects upward (projection 35
a), the end of the piston rod 42 of the pitching hydraulic cylinder 36 that is loosely fitted to the chassis 7 is loosely fitted to its end.

When the piston rod 42 is extended, the pitching arm 35 rotates clockwise about the shaft 39 as a fulcrum. Since the pin 38 also rotates clockwise with the pitching arm 35, the connecting arm 29, the rear rolling shaft 3
0, rear arm 24 and pin 25 are raised. The pin 25
Raises the rear portion of the track roller frame 18, so that the distance between the rear portion of the chassis 7 and the crawler 14 becomes shorter, and the vehicle chassis 7 (entire combine) has a front-up slope.

When the piston rod 42 is shortened, the movement is reversed, and the distance between the rear portion of the chassis 7 and the crawler 14 is increased, and the rearward upward inclination, that is, the chassis 7 (entire combine) is inclined forward and downward.

Such a pitching movement is basically for making the inclination of the combine in the front-back direction substantially horizontal. When the field scene is a wetland, the combine also inclines in the front-rear direction as described above, and is intended to prevent this. When the inclination sensor 37 detects the movement of the chassis 7 (entire combine) in the front-rear direction,
For example, when the chassis 7 is tilted forward together with the traveling device 6, the piston rod 42 of the pitching hydraulic cylinder 36 is extended, and as a forward rising tilt,
The undercarriage 7 (entire combine) is horizontal.

When the chassis 7 is tilted rearward together with the traveling device 6, the piston rod 42 of the pitching hydraulic cylinder 36 is shortened, and the rear portion of the chassis 7 is moved upward with respect to the traveling device 6, so that the chassis 7 (the whole combine) is made horizontal.

When the combine having the above-described configuration travels in a field and works, there is basically no problem if the field is a dry field, but a problem occurs if the field is a wet field. That is, in the wetland state, the chassis 7 sinks together with the traveling device 6, and the chassis 7 comes into contact with the field scene, resulting in a large traveling resistance.

Therefore, at the time of wetland, it is automatically determined whether or not the vehicle is in the wetland state, and if it is in the wetland state, the chassis 7 is automatically raised. With such a configuration, it is possible to cope with traveling in a wetland state.

In a combine which receives an electric wave from the GPS satellite 1 by the receiving device 2 and automatically runs while cutting a preset place, the Glen tank 3 of the combine is used.
Is provided with a grain quantity detecting means 4 (hereinafter, referred to as a grain quantity sensor) capable of detecting grains in the Glen tank 3. When the grain amount sensor 4 detects a grain amount equal to or greater than a preset value, the harvesting operation is temporarily stopped, and the combine is automatically moved to the vicinity of the truck 5 (a position where the grain can be discharged to the truck bed). It is configured to travel.
Of course, the combine-side CPU needs to recognize and confirm the position of the track 5. FIG. 5 shows a plan view of the field. When the gun tank 3 of the combine 43 becomes full at the point A, the vehicle moves backward to the point B and heads to the point C.

As described above, when the amount of grains in the grain tank 3 of the combine 43 exceeds the set value, the combine automatically moves to the vicinity of the truck 5, so that the working efficiency is greatly improved. The set value of the amount of grains in the Glen tank 3 is basically good in a full state, but may be close to full state. In short, it suffices that the operator can arbitrarily set it.

As shown in FIG. 5, the combine 43
When traveling from point A to point C, it is necessary to reverse to point B so as not to step on uncut culms. In other words, when the combine 43 automatically moves to the vicinity of the truck 5, the combine 43 must not step on the uncut culm at any place.

For this reason, the position of the range of the uncut kernels that existed before cutting in the field 44 is stored in the CPU of the combine (points D, E, F,
G point). Each of the points D, E, F, and G is stored in a radio wave received from the GPS satellite 1 at the time when the combine 43 makes a 90 ° turn. Further, the past route in which the combine 43 has cut the uncut kernels and traveled is stored at a predetermined distance or every predetermined time. Thereby, since the range of the uncut culm at the time when the combine stops the harvesting traveling can be specified,
When the combine 43 heads for the truck 5, it can run while avoiding uncut kernels.

In the combine with the cabin 12a, as described above, the receiving device 2 for receiving the radio wave from the GPS satellite 1 is arranged on the upper surface of the cabin 12a. A structure is provided on the upper surface of the auger 45 for discharging the grains in the tank 3. Since the auger 45 is located above the combine, the auger 45 can receive radio waves from the GPS satellites 1 efficiently.

The receiving device 2 may be arranged on the upper surface of the Glen tank 3. As described above, since the auger 45 and the Glen tank 3 are located relatively at the top in a combine without a cabin, the GPS
Radio waves from the satellite 1 can be received efficiently. In particular, in a combine without a cabin, the upper surface of the Glen tank 3 is located at the highest position, so that it is possible to receive radio waves favorably. In the combine harvester, a lot of dust is generated during the mowing traveling operation. However, by setting the receiving device 2 at a relatively high position, the influence of the dust can be prevented.

FIG. 7 shows a location where the receiving device 2 is installed.
The mooring device 8 may be configured to be installed in the gate holding portion 8a of the mowing device 8, as shown in FIG. Can receive the radio wave from. Also,
The inside of the gate holding portion 8a is configured so that dust hardly enters. Since the inside of the gate holding portion 8a is covered with a member (such as a resin) through which radio waves can pass, it is possible to prevent dust from entering. in this way,
When the receiving device 2 is installed in the gate holding portion 8a, it is possible to prevent the rain from falling even if it suddenly falls.

[Brief description of the drawings]

FIG. 1 is a left side view of the combine.

FIG. 2 is a left side view.

FIG. 3 is a left side view.

FIG. 4 is a plan view

FIG. 5 is a plan view

FIG. 6 is a right side view of the combine.

7A is a front view of the combine, and FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... GPS satellite, 2 ... receiver, 3 ... Glen tank, 4
... Grain amount detecting means, 5 ... Truck.

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) 2B043 AA04 AB15 BA03 BA05 BB14 DA17 DC01 EA40 EB04 EB08 EB22 EC02 EC19 ED12 2B074 AA01 AB01 AC02 BA13 DA02 DC01 EA01 EB11 EC02 EE02 FB02 5H301 AA03 AA10 BB10 CC01 CC03 CC08 BB01 CC07

Claims (1)

[Claims] 1. A receiver 2 capable of receiving a radio wave from a GPS satellite 1 is provided at an arbitrary position of a combine so that the position of the combine can be detected. Based on a signal received by the receiver 2, In a combine which automatically travels at a preset position, a grain amount detecting means 4 for detecting a grain amount in the Glen tank 3 is provided, and when the grain amount detecting means 4 detects a preset value or more, the harvesting is performed. An automatic traveling device of a combine, wherein the automatic traveling device is configured to interrupt the operation and automatically move to the truck 5.